
kalman2:     file format elf64-x86-64


Disassembly of section .init:

0000000000001000 <_init>:
    1000:	f3 0f 1e fa          	endbr64 
    1004:	48 83 ec 08          	sub    $0x8,%rsp
    1008:	48 8b 05 d9 3f 00 00 	mov    0x3fd9(%rip),%rax        # 4fe8 <__gmon_start__>
    100f:	48 85 c0             	test   %rax,%rax
    1012:	74 02                	je     1016 <_init+0x16>
    1014:	ff d0                	callq  *%rax
    1016:	48 83 c4 08          	add    $0x8,%rsp
    101a:	c3                   	retq   

Disassembly of section .plt:

0000000000001020 <.plt>:
    1020:	ff 35 82 3f 00 00    	pushq  0x3f82(%rip)        # 4fa8 <_GLOBAL_OFFSET_TABLE_+0x8>
    1026:	f2 ff 25 83 3f 00 00 	bnd jmpq *0x3f83(%rip)        # 4fb0 <_GLOBAL_OFFSET_TABLE_+0x10>
    102d:	0f 1f 00             	nopl   (%rax)
    1030:	f3 0f 1e fa          	endbr64 
    1034:	68 00 00 00 00       	pushq  $0x0
    1039:	f2 e9 e1 ff ff ff    	bnd jmpq 1020 <.plt>
    103f:	90                   	nop
    1040:	f3 0f 1e fa          	endbr64 
    1044:	68 01 00 00 00       	pushq  $0x1
    1049:	f2 e9 d1 ff ff ff    	bnd jmpq 1020 <.plt>
    104f:	90                   	nop
    1050:	f3 0f 1e fa          	endbr64 
    1054:	68 02 00 00 00       	pushq  $0x2
    1059:	f2 e9 c1 ff ff ff    	bnd jmpq 1020 <.plt>
    105f:	90                   	nop
    1060:	f3 0f 1e fa          	endbr64 
    1064:	68 03 00 00 00       	pushq  $0x3
    1069:	f2 e9 b1 ff ff ff    	bnd jmpq 1020 <.plt>
    106f:	90                   	nop

Disassembly of section .plt.got:

0000000000001070 <__cxa_finalize@plt>:
    1070:	f3 0f 1e fa          	endbr64 
    1074:	f2 ff 25 7d 3f 00 00 	bnd jmpq *0x3f7d(%rip)        # 4ff8 <__cxa_finalize@GLIBC_2.2.5>
    107b:	0f 1f 44 00 00       	nopl   0x0(%rax,%rax,1)

Disassembly of section .plt.sec:

0000000000001080 <free@plt>:
    1080:	f3 0f 1e fa          	endbr64 
    1084:	f2 ff 25 2d 3f 00 00 	bnd jmpq *0x3f2d(%rip)        # 4fb8 <free@GLIBC_2.2.5>
    108b:	0f 1f 44 00 00       	nopl   0x0(%rax,%rax,1)

0000000000001090 <puts@plt>:
    1090:	f3 0f 1e fa          	endbr64 
    1094:	f2 ff 25 25 3f 00 00 	bnd jmpq *0x3f25(%rip)        # 4fc0 <puts@GLIBC_2.2.5>
    109b:	0f 1f 44 00 00       	nopl   0x0(%rax,%rax,1)

00000000000010a0 <printf@plt>:
    10a0:	f3 0f 1e fa          	endbr64 
    10a4:	f2 ff 25 1d 3f 00 00 	bnd jmpq *0x3f1d(%rip)        # 4fc8 <printf@GLIBC_2.2.5>
    10ab:	0f 1f 44 00 00       	nopl   0x0(%rax,%rax,1)

00000000000010b0 <malloc@plt>:
    10b0:	f3 0f 1e fa          	endbr64 
    10b4:	f2 ff 25 15 3f 00 00 	bnd jmpq *0x3f15(%rip)        # 4fd0 <malloc@GLIBC_2.2.5>
    10bb:	0f 1f 44 00 00       	nopl   0x0(%rax,%rax,1)

Disassembly of section .text:

00000000000010c0 <_start>:
    10c0:	f3 0f 1e fa          	endbr64 
    10c4:	31 ed                	xor    %ebp,%ebp
    10c6:	49 89 d1             	mov    %rdx,%r9
    10c9:	5e                   	pop    %rsi
    10ca:	48 89 e2             	mov    %rsp,%rdx
    10cd:	48 83 e4 f0          	and    $0xfffffffffffffff0,%rsp
    10d1:	50                   	push   %rax
    10d2:	54                   	push   %rsp
    10d3:	4c 8d 05 46 16 00 00 	lea    0x1646(%rip),%r8        # 2720 <__libc_csu_fini>
    10da:	48 8d 0d cf 15 00 00 	lea    0x15cf(%rip),%rcx        # 26b0 <__libc_csu_init>
    10e1:	48 8d 3d 90 15 00 00 	lea    0x1590(%rip),%rdi        # 2678 <main>
    10e8:	ff 15 f2 3e 00 00    	callq  *0x3ef2(%rip)        # 4fe0 <__libc_start_main@GLIBC_2.2.5>
    10ee:	f4                   	hlt    
    10ef:	90                   	nop

00000000000010f0 <deregister_tm_clones>:
    10f0:	48 8d 3d 19 3f 00 00 	lea    0x3f19(%rip),%rdi        # 5010 <__TMC_END__>
    10f7:	48 8d 05 12 3f 00 00 	lea    0x3f12(%rip),%rax        # 5010 <__TMC_END__>
    10fe:	48 39 f8             	cmp    %rdi,%rax
    1101:	74 15                	je     1118 <deregister_tm_clones+0x28>
    1103:	48 8b 05 ce 3e 00 00 	mov    0x3ece(%rip),%rax        # 4fd8 <_ITM_deregisterTMCloneTable>
    110a:	48 85 c0             	test   %rax,%rax
    110d:	74 09                	je     1118 <deregister_tm_clones+0x28>
    110f:	ff e0                	jmpq   *%rax
    1111:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)
    1118:	c3                   	retq   
    1119:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)

0000000000001120 <register_tm_clones>:
    1120:	48 8d 3d e9 3e 00 00 	lea    0x3ee9(%rip),%rdi        # 5010 <__TMC_END__>
    1127:	48 8d 35 e2 3e 00 00 	lea    0x3ee2(%rip),%rsi        # 5010 <__TMC_END__>
    112e:	48 29 fe             	sub    %rdi,%rsi
    1131:	48 89 f0             	mov    %rsi,%rax
    1134:	48 c1 ee 3f          	shr    $0x3f,%rsi
    1138:	48 c1 f8 03          	sar    $0x3,%rax
    113c:	48 01 c6             	add    %rax,%rsi
    113f:	48 d1 fe             	sar    %rsi
    1142:	74 14                	je     1158 <register_tm_clones+0x38>
    1144:	48 8b 05 a5 3e 00 00 	mov    0x3ea5(%rip),%rax        # 4ff0 <_ITM_registerTMCloneTable>
    114b:	48 85 c0             	test   %rax,%rax
    114e:	74 08                	je     1158 <register_tm_clones+0x38>
    1150:	ff e0                	jmpq   *%rax
    1152:	66 0f 1f 44 00 00    	nopw   0x0(%rax,%rax,1)
    1158:	c3                   	retq   
    1159:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)

0000000000001160 <__do_global_dtors_aux>:
    1160:	f3 0f 1e fa          	endbr64 
    1164:	80 3d a5 3e 00 00 00 	cmpb   $0x0,0x3ea5(%rip)        # 5010 <__TMC_END__>
    116b:	75 2b                	jne    1198 <__do_global_dtors_aux+0x38>
    116d:	55                   	push   %rbp
    116e:	48 83 3d 82 3e 00 00 	cmpq   $0x0,0x3e82(%rip)        # 4ff8 <__cxa_finalize@GLIBC_2.2.5>
    1175:	00 
    1176:	48 89 e5             	mov    %rsp,%rbp
    1179:	74 0c                	je     1187 <__do_global_dtors_aux+0x27>
    117b:	48 8b 3d 86 3e 00 00 	mov    0x3e86(%rip),%rdi        # 5008 <__dso_handle>
    1182:	e8 e9 fe ff ff       	callq  1070 <__cxa_finalize@plt>
    1187:	e8 64 ff ff ff       	callq  10f0 <deregister_tm_clones>
    118c:	c6 05 7d 3e 00 00 01 	movb   $0x1,0x3e7d(%rip)        # 5010 <__TMC_END__>
    1193:	5d                   	pop    %rbp
    1194:	c3                   	retq   
    1195:	0f 1f 00             	nopl   (%rax)
    1198:	c3                   	retq   
    1199:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)

00000000000011a0 <frame_dummy>:
    11a0:	f3 0f 1e fa          	endbr64 
    11a4:	e9 77 ff ff ff       	jmpq   1120 <register_tm_clones>

00000000000011a9 <rinv>:
    11a9:	f3 0f 1e fa          	endbr64 
    11ad:	55                   	push   %rbp
    11ae:	48 89 e5             	mov    %rsp,%rbp
    11b1:	48 83 ec 50          	sub    $0x50,%rsp
    11b5:	89 7d bc             	mov    %edi,-0x44(%rbp)
    11b8:	48 89 75 b0          	mov    %rsi,-0x50(%rbp)
    11bc:	8b 45 bc             	mov    -0x44(%rbp),%eax
    11bf:	48 98                	cltq   
    11c1:	48 c1 e0 02          	shl    $0x2,%rax
    11c5:	48 89 c7             	mov    %rax,%rdi
    11c8:	e8 e3 fe ff ff       	callq  10b0 <malloc@plt>
    11cd:	48 89 45 e8          	mov    %rax,-0x18(%rbp)
    11d1:	8b 45 bc             	mov    -0x44(%rbp),%eax
    11d4:	48 98                	cltq   
    11d6:	48 c1 e0 02          	shl    $0x2,%rax
    11da:	48 89 c7             	mov    %rax,%rdi
    11dd:	e8 ce fe ff ff       	callq  10b0 <malloc@plt>
    11e2:	48 89 45 f0          	mov    %rax,-0x10(%rbp)
    11e6:	c7 45 c8 00 00 00 00 	movl   $0x0,-0x38(%rbp)
    11ed:	e9 3c 05 00 00       	jmpq   172e <rinv+0x585>
    11f2:	66 0f ef c0          	pxor   %xmm0,%xmm0
    11f6:	f2 0f 11 45 e0       	movsd  %xmm0,-0x20(%rbp)
    11fb:	8b 45 c8             	mov    -0x38(%rbp),%eax
    11fe:	89 45 d8             	mov    %eax,-0x28(%rbp)
    1201:	e9 a8 00 00 00       	jmpq   12ae <rinv+0x105>
    1206:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1209:	89 45 cc             	mov    %eax,-0x34(%rbp)
    120c:	e9 86 00 00 00       	jmpq   1297 <rinv+0xee>
    1211:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1214:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1218:	89 c2                	mov    %eax,%edx
    121a:	8b 45 cc             	mov    -0x34(%rbp),%eax
    121d:	01 d0                	add    %edx,%eax
    121f:	89 45 dc             	mov    %eax,-0x24(%rbp)
    1222:	8b 45 dc             	mov    -0x24(%rbp),%eax
    1225:	48 98                	cltq   
    1227:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    122e:	00 
    122f:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    1233:	48 01 d0             	add    %rdx,%rax
    1236:	f2 0f 10 00          	movsd  (%rax),%xmm0
    123a:	f3 0f 7e 0d ee 1d 00 	movq   0x1dee(%rip),%xmm1        # 3030 <_IO_stdin_used+0x30>
    1241:	00 
    1242:	66 0f 54 c1          	andpd  %xmm1,%xmm0
    1246:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    124b:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    1250:	66 0f 2f 45 e0       	comisd -0x20(%rbp),%xmm0
    1255:	76 3c                	jbe    1293 <rinv+0xea>
    1257:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    125c:	f2 0f 11 45 e0       	movsd  %xmm0,-0x20(%rbp)
    1261:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1264:	48 98                	cltq   
    1266:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    126d:	00 
    126e:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1272:	48 01 c2             	add    %rax,%rdx
    1275:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1278:	89 02                	mov    %eax,(%rdx)
    127a:	8b 45 c8             	mov    -0x38(%rbp),%eax
    127d:	48 98                	cltq   
    127f:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    1286:	00 
    1287:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    128b:	48 01 c2             	add    %rax,%rdx
    128e:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1291:	89 02                	mov    %eax,(%rdx)
    1293:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1297:	8b 45 bc             	mov    -0x44(%rbp),%eax
    129a:	83 e8 01             	sub    $0x1,%eax
    129d:	89 45 cc             	mov    %eax,-0x34(%rbp)
    12a0:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    12a4:	0f 85 67 ff ff ff    	jne    1211 <rinv+0x68>
    12aa:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    12ae:	8b 45 bc             	mov    -0x44(%rbp),%eax
    12b1:	83 e8 01             	sub    $0x1,%eax
    12b4:	89 45 d8             	mov    %eax,-0x28(%rbp)
    12b7:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    12bb:	0f 85 45 ff ff ff    	jne    1206 <rinv+0x5d>
    12c1:	f2 0f 10 4d e0       	movsd  -0x20(%rbp),%xmm1
    12c6:	f2 0f 10 05 72 1d 00 	movsd  0x1d72(%rip),%xmm0        # 3040 <_IO_stdin_used+0x40>
    12cd:	00 
    12ce:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    12d2:	f2 0f 10 0d 66 1d 00 	movsd  0x1d66(%rip),%xmm1        # 3040 <_IO_stdin_used+0x40>
    12d9:	00 
    12da:	66 0f 2e c1          	ucomisd %xmm1,%xmm0
    12de:	7a 3c                	jp     131c <rinv+0x173>
    12e0:	f2 0f 10 0d 58 1d 00 	movsd  0x1d58(%rip),%xmm1        # 3040 <_IO_stdin_used+0x40>
    12e7:	00 
    12e8:	66 0f 2e c1          	ucomisd %xmm1,%xmm0
    12ec:	75 2e                	jne    131c <rinv+0x173>
    12ee:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    12f2:	48 89 c7             	mov    %rax,%rdi
    12f5:	e8 86 fd ff ff       	callq  1080 <free@plt>
    12fa:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    12fe:	48 89 c7             	mov    %rax,%rdi
    1301:	e8 7a fd ff ff       	callq  1080 <free@plt>
    1306:	48 8d 3d 03 1d 00 00 	lea    0x1d03(%rip),%rdi        # 3010 <_IO_stdin_used+0x10>
    130d:	e8 7e fd ff ff       	callq  1090 <puts@plt>
    1312:	b8 00 00 00 00       	mov    $0x0,%eax
    1317:	e9 20 06 00 00       	jmpq   193c <rinv+0x793>
    131c:	8b 45 c8             	mov    -0x38(%rbp),%eax
    131f:	48 98                	cltq   
    1321:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    1328:	00 
    1329:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    132d:	48 01 d0             	add    %rdx,%rax
    1330:	8b 00                	mov    (%rax),%eax
    1332:	39 45 c8             	cmp    %eax,-0x38(%rbp)
    1335:	0f 84 c2 00 00 00    	je     13fd <rinv+0x254>
    133b:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1342:	e9 a3 00 00 00       	jmpq   13ea <rinv+0x241>
    1347:	8b 45 c8             	mov    -0x38(%rbp),%eax
    134a:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    134e:	89 c2                	mov    %eax,%edx
    1350:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1353:	01 d0                	add    %edx,%eax
    1355:	89 45 d0             	mov    %eax,-0x30(%rbp)
    1358:	8b 45 c8             	mov    -0x38(%rbp),%eax
    135b:	48 98                	cltq   
    135d:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    1364:	00 
    1365:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1369:	48 01 d0             	add    %rdx,%rax
    136c:	8b 00                	mov    (%rax),%eax
    136e:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1372:	89 c2                	mov    %eax,%edx
    1374:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1377:	01 d0                	add    %edx,%eax
    1379:	89 45 d4             	mov    %eax,-0x2c(%rbp)
    137c:	8b 45 d0             	mov    -0x30(%rbp),%eax
    137f:	48 98                	cltq   
    1381:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1388:	00 
    1389:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    138d:	48 01 d0             	add    %rdx,%rax
    1390:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1394:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    1399:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    139c:	48 98                	cltq   
    139e:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    13a5:	00 
    13a6:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    13aa:	48 01 c2             	add    %rax,%rdx
    13ad:	8b 45 d0             	mov    -0x30(%rbp),%eax
    13b0:	48 98                	cltq   
    13b2:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    13b9:	00 
    13ba:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    13be:	48 01 c8             	add    %rcx,%rax
    13c1:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    13c5:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    13c9:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    13cc:	48 98                	cltq   
    13ce:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    13d5:	00 
    13d6:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    13da:	48 01 d0             	add    %rdx,%rax
    13dd:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    13e2:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    13e6:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    13ea:	8b 45 bc             	mov    -0x44(%rbp),%eax
    13ed:	83 e8 01             	sub    $0x1,%eax
    13f0:	89 45 cc             	mov    %eax,-0x34(%rbp)
    13f3:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    13f7:	0f 85 4a ff ff ff    	jne    1347 <rinv+0x19e>
    13fd:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1400:	48 98                	cltq   
    1402:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    1409:	00 
    140a:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    140e:	48 01 d0             	add    %rdx,%rax
    1411:	8b 00                	mov    (%rax),%eax
    1413:	39 45 c8             	cmp    %eax,-0x38(%rbp)
    1416:	0f 84 c2 00 00 00    	je     14de <rinv+0x335>
    141c:	c7 45 d8 00 00 00 00 	movl   $0x0,-0x28(%rbp)
    1423:	e9 a3 00 00 00       	jmpq   14cb <rinv+0x322>
    1428:	8b 45 d8             	mov    -0x28(%rbp),%eax
    142b:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    142f:	89 c2                	mov    %eax,%edx
    1431:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1434:	01 d0                	add    %edx,%eax
    1436:	89 45 d0             	mov    %eax,-0x30(%rbp)
    1439:	8b 45 d8             	mov    -0x28(%rbp),%eax
    143c:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1440:	89 c2                	mov    %eax,%edx
    1442:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1445:	48 98                	cltq   
    1447:	48 8d 0c 85 00 00 00 	lea    0x0(,%rax,4),%rcx
    144e:	00 
    144f:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1453:	48 01 c8             	add    %rcx,%rax
    1456:	8b 00                	mov    (%rax),%eax
    1458:	01 d0                	add    %edx,%eax
    145a:	89 45 d4             	mov    %eax,-0x2c(%rbp)
    145d:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1460:	48 98                	cltq   
    1462:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1469:	00 
    146a:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    146e:	48 01 d0             	add    %rdx,%rax
    1471:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1475:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    147a:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    147d:	48 98                	cltq   
    147f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1486:	00 
    1487:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    148b:	48 01 c2             	add    %rax,%rdx
    148e:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1491:	48 98                	cltq   
    1493:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    149a:	00 
    149b:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    149f:	48 01 c8             	add    %rcx,%rax
    14a2:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    14a6:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    14aa:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    14ad:	48 98                	cltq   
    14af:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    14b6:	00 
    14b7:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    14bb:	48 01 d0             	add    %rdx,%rax
    14be:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    14c3:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    14c7:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    14cb:	8b 45 bc             	mov    -0x44(%rbp),%eax
    14ce:	83 e8 01             	sub    $0x1,%eax
    14d1:	89 45 d8             	mov    %eax,-0x28(%rbp)
    14d4:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    14d8:	0f 85 4a ff ff ff    	jne    1428 <rinv+0x27f>
    14de:	8b 45 c8             	mov    -0x38(%rbp),%eax
    14e1:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    14e5:	89 c2                	mov    %eax,%edx
    14e7:	8b 45 c8             	mov    -0x38(%rbp),%eax
    14ea:	01 d0                	add    %edx,%eax
    14ec:	89 45 dc             	mov    %eax,-0x24(%rbp)
    14ef:	8b 45 dc             	mov    -0x24(%rbp),%eax
    14f2:	48 98                	cltq   
    14f4:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    14fb:	00 
    14fc:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    1500:	48 01 d0             	add    %rdx,%rax
    1503:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1507:	8b 45 dc             	mov    -0x24(%rbp),%eax
    150a:	48 98                	cltq   
    150c:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1513:	00 
    1514:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    1518:	48 01 d0             	add    %rdx,%rax
    151b:	f2 0f 10 05 1d 1b 00 	movsd  0x1b1d(%rip),%xmm0        # 3040 <_IO_stdin_used+0x40>
    1522:	00 
    1523:	f2 0f 5e c1          	divsd  %xmm1,%xmm0
    1527:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    152b:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1532:	eb 69                	jmp    159d <rinv+0x3f4>
    1534:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1537:	3b 45 c8             	cmp    -0x38(%rbp),%eax
    153a:	74 5d                	je     1599 <rinv+0x3f0>
    153c:	8b 45 c8             	mov    -0x38(%rbp),%eax
    153f:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1543:	89 c2                	mov    %eax,%edx
    1545:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1548:	01 d0                	add    %edx,%eax
    154a:	89 45 d0             	mov    %eax,-0x30(%rbp)
    154d:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1550:	48 98                	cltq   
    1552:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1559:	00 
    155a:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    155e:	48 01 d0             	add    %rdx,%rax
    1561:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1565:	8b 45 dc             	mov    -0x24(%rbp),%eax
    1568:	48 98                	cltq   
    156a:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1571:	00 
    1572:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    1576:	48 01 d0             	add    %rdx,%rax
    1579:	f2 0f 10 00          	movsd  (%rax),%xmm0
    157d:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1580:	48 98                	cltq   
    1582:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1589:	00 
    158a:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    158e:	48 01 d0             	add    %rdx,%rax
    1591:	f2 0f 59 c1          	mulsd  %xmm1,%xmm0
    1595:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1599:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    159d:	8b 45 bc             	mov    -0x44(%rbp),%eax
    15a0:	83 e8 01             	sub    $0x1,%eax
    15a3:	89 45 cc             	mov    %eax,-0x34(%rbp)
    15a6:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    15aa:	75 88                	jne    1534 <rinv+0x38b>
    15ac:	c7 45 d8 00 00 00 00 	movl   $0x0,-0x28(%rbp)
    15b3:	e9 ce 00 00 00       	jmpq   1686 <rinv+0x4dd>
    15b8:	8b 45 d8             	mov    -0x28(%rbp),%eax
    15bb:	3b 45 c8             	cmp    -0x38(%rbp),%eax
    15be:	0f 84 be 00 00 00    	je     1682 <rinv+0x4d9>
    15c4:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    15cb:	e9 9f 00 00 00       	jmpq   166f <rinv+0x4c6>
    15d0:	8b 45 cc             	mov    -0x34(%rbp),%eax
    15d3:	3b 45 c8             	cmp    -0x38(%rbp),%eax
    15d6:	0f 84 8f 00 00 00    	je     166b <rinv+0x4c2>
    15dc:	8b 45 d8             	mov    -0x28(%rbp),%eax
    15df:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    15e3:	89 c2                	mov    %eax,%edx
    15e5:	8b 45 cc             	mov    -0x34(%rbp),%eax
    15e8:	01 d0                	add    %edx,%eax
    15ea:	89 45 d0             	mov    %eax,-0x30(%rbp)
    15ed:	8b 45 d0             	mov    -0x30(%rbp),%eax
    15f0:	48 98                	cltq   
    15f2:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    15f9:	00 
    15fa:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    15fe:	48 01 d0             	add    %rdx,%rax
    1601:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1605:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1608:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    160c:	89 c2                	mov    %eax,%edx
    160e:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1611:	01 d0                	add    %edx,%eax
    1613:	48 98                	cltq   
    1615:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    161c:	00 
    161d:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    1621:	48 01 d0             	add    %rdx,%rax
    1624:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1628:	8b 45 c8             	mov    -0x38(%rbp),%eax
    162b:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    162f:	89 c2                	mov    %eax,%edx
    1631:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1634:	01 d0                	add    %edx,%eax
    1636:	48 98                	cltq   
    1638:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    163f:	00 
    1640:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    1644:	48 01 d0             	add    %rdx,%rax
    1647:	f2 0f 10 08          	movsd  (%rax),%xmm1
    164b:	f2 0f 59 ca          	mulsd  %xmm2,%xmm1
    164f:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1652:	48 98                	cltq   
    1654:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    165b:	00 
    165c:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    1660:	48 01 d0             	add    %rdx,%rax
    1663:	f2 0f 5c c1          	subsd  %xmm1,%xmm0
    1667:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    166b:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    166f:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1672:	83 e8 01             	sub    $0x1,%eax
    1675:	89 45 cc             	mov    %eax,-0x34(%rbp)
    1678:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    167c:	0f 85 4e ff ff ff    	jne    15d0 <rinv+0x427>
    1682:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    1686:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1689:	83 e8 01             	sub    $0x1,%eax
    168c:	89 45 d8             	mov    %eax,-0x28(%rbp)
    168f:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    1693:	0f 85 1f ff ff ff    	jne    15b8 <rinv+0x40f>
    1699:	c7 45 d8 00 00 00 00 	movl   $0x0,-0x28(%rbp)
    16a0:	eb 75                	jmp    1717 <rinv+0x56e>
    16a2:	8b 45 d8             	mov    -0x28(%rbp),%eax
    16a5:	3b 45 c8             	cmp    -0x38(%rbp),%eax
    16a8:	74 69                	je     1713 <rinv+0x56a>
    16aa:	8b 45 d8             	mov    -0x28(%rbp),%eax
    16ad:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    16b1:	89 c2                	mov    %eax,%edx
    16b3:	8b 45 c8             	mov    -0x38(%rbp),%eax
    16b6:	01 d0                	add    %edx,%eax
    16b8:	89 45 d0             	mov    %eax,-0x30(%rbp)
    16bb:	8b 45 d0             	mov    -0x30(%rbp),%eax
    16be:	48 98                	cltq   
    16c0:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    16c7:	00 
    16c8:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    16cc:	48 01 d0             	add    %rdx,%rax
    16cf:	f2 0f 10 00          	movsd  (%rax),%xmm0
    16d3:	f3 0f 7e 0d 75 19 00 	movq   0x1975(%rip),%xmm1        # 3050 <_IO_stdin_used+0x50>
    16da:	00 
    16db:	66 0f 57 c8          	xorpd  %xmm0,%xmm1
    16df:	8b 45 dc             	mov    -0x24(%rbp),%eax
    16e2:	48 98                	cltq   
    16e4:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    16eb:	00 
    16ec:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    16f0:	48 01 d0             	add    %rdx,%rax
    16f3:	f2 0f 10 00          	movsd  (%rax),%xmm0
    16f7:	8b 45 d0             	mov    -0x30(%rbp),%eax
    16fa:	48 98                	cltq   
    16fc:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1703:	00 
    1704:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    1708:	48 01 d0             	add    %rdx,%rax
    170b:	f2 0f 59 c1          	mulsd  %xmm1,%xmm0
    170f:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1713:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    1717:	8b 45 bc             	mov    -0x44(%rbp),%eax
    171a:	83 e8 01             	sub    $0x1,%eax
    171d:	89 45 d8             	mov    %eax,-0x28(%rbp)
    1720:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    1724:	0f 85 78 ff ff ff    	jne    16a2 <rinv+0x4f9>
    172a:	83 45 c8 01          	addl   $0x1,-0x38(%rbp)
    172e:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1731:	83 e8 01             	sub    $0x1,%eax
    1734:	89 45 c8             	mov    %eax,-0x38(%rbp)
    1737:	83 7d c8 00          	cmpl   $0x0,-0x38(%rbp)
    173b:	0f 85 b1 fa ff ff    	jne    11f2 <rinv+0x49>
    1741:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1744:	83 e8 01             	sub    $0x1,%eax
    1747:	89 45 c8             	mov    %eax,-0x38(%rbp)
    174a:	e9 c6 01 00 00       	jmpq   1915 <rinv+0x76c>
    174f:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1752:	48 98                	cltq   
    1754:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    175b:	00 
    175c:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1760:	48 01 d0             	add    %rdx,%rax
    1763:	8b 00                	mov    (%rax),%eax
    1765:	39 45 c8             	cmp    %eax,-0x38(%rbp)
    1768:	0f 84 c2 00 00 00    	je     1830 <rinv+0x687>
    176e:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1775:	e9 a3 00 00 00       	jmpq   181d <rinv+0x674>
    177a:	8b 45 c8             	mov    -0x38(%rbp),%eax
    177d:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1781:	89 c2                	mov    %eax,%edx
    1783:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1786:	01 d0                	add    %edx,%eax
    1788:	89 45 d0             	mov    %eax,-0x30(%rbp)
    178b:	8b 45 c8             	mov    -0x38(%rbp),%eax
    178e:	48 98                	cltq   
    1790:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    1797:	00 
    1798:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    179c:	48 01 d0             	add    %rdx,%rax
    179f:	8b 00                	mov    (%rax),%eax
    17a1:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    17a5:	89 c2                	mov    %eax,%edx
    17a7:	8b 45 cc             	mov    -0x34(%rbp),%eax
    17aa:	01 d0                	add    %edx,%eax
    17ac:	89 45 d4             	mov    %eax,-0x2c(%rbp)
    17af:	8b 45 d0             	mov    -0x30(%rbp),%eax
    17b2:	48 98                	cltq   
    17b4:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    17bb:	00 
    17bc:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    17c0:	48 01 d0             	add    %rdx,%rax
    17c3:	f2 0f 10 00          	movsd  (%rax),%xmm0
    17c7:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    17cc:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    17cf:	48 98                	cltq   
    17d1:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    17d8:	00 
    17d9:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    17dd:	48 01 c2             	add    %rax,%rdx
    17e0:	8b 45 d0             	mov    -0x30(%rbp),%eax
    17e3:	48 98                	cltq   
    17e5:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    17ec:	00 
    17ed:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    17f1:	48 01 c8             	add    %rcx,%rax
    17f4:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    17f8:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    17fc:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    17ff:	48 98                	cltq   
    1801:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1808:	00 
    1809:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    180d:	48 01 d0             	add    %rdx,%rax
    1810:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    1815:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1819:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    181d:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1820:	83 e8 01             	sub    $0x1,%eax
    1823:	89 45 cc             	mov    %eax,-0x34(%rbp)
    1826:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    182a:	0f 85 4a ff ff ff    	jne    177a <rinv+0x5d1>
    1830:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1833:	48 98                	cltq   
    1835:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    183c:	00 
    183d:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1841:	48 01 d0             	add    %rdx,%rax
    1844:	8b 00                	mov    (%rax),%eax
    1846:	39 45 c8             	cmp    %eax,-0x38(%rbp)
    1849:	0f 84 c2 00 00 00    	je     1911 <rinv+0x768>
    184f:	c7 45 d8 00 00 00 00 	movl   $0x0,-0x28(%rbp)
    1856:	e9 a3 00 00 00       	jmpq   18fe <rinv+0x755>
    185b:	8b 45 d8             	mov    -0x28(%rbp),%eax
    185e:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1862:	89 c2                	mov    %eax,%edx
    1864:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1867:	01 d0                	add    %edx,%eax
    1869:	89 45 d0             	mov    %eax,-0x30(%rbp)
    186c:	8b 45 d8             	mov    -0x28(%rbp),%eax
    186f:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1873:	89 c2                	mov    %eax,%edx
    1875:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1878:	48 98                	cltq   
    187a:	48 8d 0c 85 00 00 00 	lea    0x0(,%rax,4),%rcx
    1881:	00 
    1882:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1886:	48 01 c8             	add    %rcx,%rax
    1889:	8b 00                	mov    (%rax),%eax
    188b:	01 d0                	add    %edx,%eax
    188d:	89 45 d4             	mov    %eax,-0x2c(%rbp)
    1890:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1893:	48 98                	cltq   
    1895:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    189c:	00 
    189d:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    18a1:	48 01 d0             	add    %rdx,%rax
    18a4:	f2 0f 10 00          	movsd  (%rax),%xmm0
    18a8:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    18ad:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    18b0:	48 98                	cltq   
    18b2:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    18b9:	00 
    18ba:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    18be:	48 01 c2             	add    %rax,%rdx
    18c1:	8b 45 d0             	mov    -0x30(%rbp),%eax
    18c4:	48 98                	cltq   
    18c6:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    18cd:	00 
    18ce:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    18d2:	48 01 c8             	add    %rcx,%rax
    18d5:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    18d9:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    18dd:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    18e0:	48 98                	cltq   
    18e2:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    18e9:	00 
    18ea:	48 8b 45 b0          	mov    -0x50(%rbp),%rax
    18ee:	48 01 d0             	add    %rdx,%rax
    18f1:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    18f6:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    18fa:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    18fe:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1901:	83 e8 01             	sub    $0x1,%eax
    1904:	89 45 d8             	mov    %eax,-0x28(%rbp)
    1907:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    190b:	0f 85 4a ff ff ff    	jne    185b <rinv+0x6b2>
    1911:	83 6d c8 01          	subl   $0x1,-0x38(%rbp)
    1915:	83 7d c8 00          	cmpl   $0x0,-0x38(%rbp)
    1919:	0f 89 30 fe ff ff    	jns    174f <rinv+0x5a6>
    191f:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1923:	48 89 c7             	mov    %rax,%rdi
    1926:	e8 55 f7 ff ff       	callq  1080 <free@plt>
    192b:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    192f:	48 89 c7             	mov    %rax,%rdi
    1932:	e8 49 f7 ff ff       	callq  1080 <free@plt>
    1937:	b8 01 00 00 00       	mov    $0x1,%eax
    193c:	c9                   	leaveq 
    193d:	c3                   	retq   

000000000000193e <kalman>:
    193e:	f3 0f 1e fa          	endbr64 
    1942:	55                   	push   %rbp
    1943:	48 89 e5             	mov    %rsp,%rbp
    1946:	48 83 ec 70          	sub    $0x70,%rsp
    194a:	89 7d bc             	mov    %edi,-0x44(%rbp)
    194d:	89 75 b8             	mov    %esi,-0x48(%rbp)
    1950:	89 55 b4             	mov    %edx,-0x4c(%rbp)
    1953:	48 89 4d a8          	mov    %rcx,-0x58(%rbp)
    1957:	4c 89 45 a0          	mov    %r8,-0x60(%rbp)
    195b:	4c 89 4d 98          	mov    %r9,-0x68(%rbp)
    195f:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1962:	0f af c0             	imul   %eax,%eax
    1965:	48 98                	cltq   
    1967:	48 c1 e0 03          	shl    $0x3,%rax
    196b:	48 89 c7             	mov    %rax,%rdi
    196e:	e8 3d f7 ff ff       	callq  10b0 <malloc@plt>
    1973:	48 89 45 e8          	mov    %rax,-0x18(%rbp)
    1977:	8b 45 b8             	mov    -0x48(%rbp),%eax
    197a:	89 45 dc             	mov    %eax,-0x24(%rbp)
    197d:	8b 45 dc             	mov    -0x24(%rbp),%eax
    1980:	3b 45 bc             	cmp    -0x44(%rbp),%eax
    1983:	7d 06                	jge    198b <kalman+0x4d>
    1985:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1988:	89 45 dc             	mov    %eax,-0x24(%rbp)
    198b:	8b 45 dc             	mov    -0x24(%rbp),%eax
    198e:	0f af c0             	imul   %eax,%eax
    1991:	48 98                	cltq   
    1993:	48 c1 e0 03          	shl    $0x3,%rax
    1997:	48 89 c7             	mov    %rax,%rdi
    199a:	e8 11 f7 ff ff       	callq  10b0 <malloc@plt>
    199f:	48 89 45 f0          	mov    %rax,-0x10(%rbp)
    19a3:	8b 45 dc             	mov    -0x24(%rbp),%eax
    19a6:	0f af c0             	imul   %eax,%eax
    19a9:	48 98                	cltq   
    19ab:	48 c1 e0 03          	shl    $0x3,%rax
    19af:	48 89 c7             	mov    %rax,%rdi
    19b2:	e8 f9 f6 ff ff       	callq  10b0 <malloc@plt>
    19b7:	48 89 45 f8          	mov    %rax,-0x8(%rbp)
    19bb:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    19c2:	e9 e7 00 00 00       	jmpq   1aae <kalman+0x170>
    19c7:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    19ce:	e9 cb 00 00 00       	jmpq   1a9e <kalman+0x160>
    19d3:	8b 45 cc             	mov    -0x34(%rbp),%eax
    19d6:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    19da:	89 c2                	mov    %eax,%edx
    19dc:	8b 45 d0             	mov    -0x30(%rbp),%eax
    19df:	01 d0                	add    %edx,%eax
    19e1:	89 45 d8             	mov    %eax,-0x28(%rbp)
    19e4:	8b 45 d8             	mov    -0x28(%rbp),%eax
    19e7:	48 98                	cltq   
    19e9:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    19f0:	00 
    19f1:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    19f5:	48 01 d0             	add    %rdx,%rax
    19f8:	66 0f ef c0          	pxor   %xmm0,%xmm0
    19fc:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1a00:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    1a07:	e9 82 00 00 00       	jmpq   1a8e <kalman+0x150>
    1a0c:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1a0f:	48 98                	cltq   
    1a11:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1a18:	00 
    1a19:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1a1d:	48 01 d0             	add    %rdx,%rax
    1a20:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1a24:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1a27:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1a2b:	89 c2                	mov    %eax,%edx
    1a2d:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1a30:	01 d0                	add    %edx,%eax
    1a32:	48 98                	cltq   
    1a34:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1a3b:	00 
    1a3c:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1a40:	48 01 d0             	add    %rdx,%rax
    1a43:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1a47:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1a4a:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1a4e:	89 c2                	mov    %eax,%edx
    1a50:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1a53:	01 d0                	add    %edx,%eax
    1a55:	48 98                	cltq   
    1a57:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1a5e:	00 
    1a5f:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    1a63:	48 01 d0             	add    %rdx,%rax
    1a66:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1a6a:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1a6e:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1a71:	48 98                	cltq   
    1a73:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1a7a:	00 
    1a7b:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1a7f:	48 01 d0             	add    %rdx,%rax
    1a82:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1a86:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1a8a:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1a8e:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1a91:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1a94:	0f 8f 72 ff ff ff    	jg     1a0c <kalman+0xce>
    1a9a:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1a9e:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1aa1:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1aa4:	0f 8f 29 ff ff ff    	jg     19d3 <kalman+0x95>
    1aaa:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1aae:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1ab1:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1ab4:	0f 8f 0d ff ff ff    	jg     19c7 <kalman+0x89>
    1aba:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1ac1:	e9 fb 00 00 00       	jmpq   1bc1 <kalman+0x283>
    1ac6:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1acd:	e9 df 00 00 00       	jmpq   1bb1 <kalman+0x273>
    1ad2:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1ad5:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1ad9:	89 c2                	mov    %eax,%edx
    1adb:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1ade:	01 d0                	add    %edx,%eax
    1ae0:	89 45 d8             	mov    %eax,-0x28(%rbp)
    1ae3:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1ae6:	48 98                	cltq   
    1ae8:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1aef:	00 
    1af0:	48 8b 45 a0          	mov    -0x60(%rbp),%rax
    1af4:	48 01 c2             	add    %rax,%rdx
    1af7:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1afa:	48 98                	cltq   
    1afc:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    1b03:	00 
    1b04:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1b08:	48 01 c8             	add    %rcx,%rax
    1b0b:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    1b0f:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1b13:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    1b1a:	e9 82 00 00 00       	jmpq   1ba1 <kalman+0x263>
    1b1f:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1b22:	48 98                	cltq   
    1b24:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1b2b:	00 
    1b2c:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1b30:	48 01 d0             	add    %rdx,%rax
    1b33:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1b37:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1b3a:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1b3e:	89 c2                	mov    %eax,%edx
    1b40:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1b43:	01 d0                	add    %edx,%eax
    1b45:	48 98                	cltq   
    1b47:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1b4e:	00 
    1b4f:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    1b53:	48 01 d0             	add    %rdx,%rax
    1b56:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1b5a:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1b5d:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    1b61:	89 c2                	mov    %eax,%edx
    1b63:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1b66:	01 d0                	add    %edx,%eax
    1b68:	48 98                	cltq   
    1b6a:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1b71:	00 
    1b72:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1b76:	48 01 d0             	add    %rdx,%rax
    1b79:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1b7d:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1b81:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1b84:	48 98                	cltq   
    1b86:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1b8d:	00 
    1b8e:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1b92:	48 01 d0             	add    %rdx,%rax
    1b95:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1b99:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1b9d:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1ba1:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1ba4:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1ba7:	0f 8f 72 ff ff ff    	jg     1b1f <kalman+0x1e1>
    1bad:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1bb1:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1bb4:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1bb7:	0f 8f 15 ff ff ff    	jg     1ad2 <kalman+0x194>
    1bbd:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1bc1:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1bc4:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1bc7:	0f 8f f9 fe ff ff    	jg     1ac6 <kalman+0x188>
    1bcd:	c7 45 d8 02 00 00 00 	movl   $0x2,-0x28(%rbp)
    1bd4:	e9 6a 0a 00 00       	jmpq   2643 <kalman+0xd05>
    1bd9:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1be0:	e9 e7 00 00 00       	jmpq   1ccc <kalman+0x38e>
    1be5:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1bec:	e9 cb 00 00 00       	jmpq   1cbc <kalman+0x37e>
    1bf1:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1bf4:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    1bf8:	89 c2                	mov    %eax,%edx
    1bfa:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1bfd:	01 d0                	add    %edx,%eax
    1bff:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    1c02:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1c05:	48 98                	cltq   
    1c07:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1c0e:	00 
    1c0f:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1c13:	48 01 d0             	add    %rdx,%rax
    1c16:	66 0f ef c0          	pxor   %xmm0,%xmm0
    1c1a:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1c1e:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    1c25:	e9 82 00 00 00       	jmpq   1cac <kalman+0x36e>
    1c2a:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1c2d:	48 98                	cltq   
    1c2f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1c36:	00 
    1c37:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1c3b:	48 01 d0             	add    %rdx,%rax
    1c3e:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1c42:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1c45:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1c49:	89 c2                	mov    %eax,%edx
    1c4b:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1c4e:	01 d0                	add    %edx,%eax
    1c50:	48 98                	cltq   
    1c52:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1c59:	00 
    1c5a:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1c5e:	48 01 d0             	add    %rdx,%rax
    1c61:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1c65:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1c68:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1c6c:	89 c2                	mov    %eax,%edx
    1c6e:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1c71:	01 d0                	add    %edx,%eax
    1c73:	48 98                	cltq   
    1c75:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1c7c:	00 
    1c7d:	48 8b 45 10          	mov    0x10(%rbp),%rax
    1c81:	48 01 d0             	add    %rdx,%rax
    1c84:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1c88:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1c8c:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1c8f:	48 98                	cltq   
    1c91:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1c98:	00 
    1c99:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1c9d:	48 01 d0             	add    %rdx,%rax
    1ca0:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1ca4:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1ca8:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1cac:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1caf:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1cb2:	0f 8f 72 ff ff ff    	jg     1c2a <kalman+0x2ec>
    1cb8:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1cbc:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1cbf:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1cc2:	0f 8f 29 ff ff ff    	jg     1bf1 <kalman+0x2b3>
    1cc8:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1ccc:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1ccf:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1cd2:	0f 8f 0d ff ff ff    	jg     1be5 <kalman+0x2a7>
    1cd8:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1cdf:	e9 fb 00 00 00       	jmpq   1ddf <kalman+0x4a1>
    1ce4:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1ceb:	e9 df 00 00 00       	jmpq   1dcf <kalman+0x491>
    1cf0:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1cf3:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    1cf7:	89 c2                	mov    %eax,%edx
    1cf9:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1cfc:	01 d0                	add    %edx,%eax
    1cfe:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    1d01:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1d04:	48 98                	cltq   
    1d06:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1d0d:	00 
    1d0e:	48 8b 45 98          	mov    -0x68(%rbp),%rax
    1d12:	48 01 c2             	add    %rax,%rdx
    1d15:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1d18:	48 98                	cltq   
    1d1a:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    1d21:	00 
    1d22:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1d26:	48 01 c8             	add    %rcx,%rax
    1d29:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    1d2d:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1d31:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    1d38:	e9 82 00 00 00       	jmpq   1dbf <kalman+0x481>
    1d3d:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1d40:	48 98                	cltq   
    1d42:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1d49:	00 
    1d4a:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1d4e:	48 01 d0             	add    %rdx,%rax
    1d51:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1d55:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1d58:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1d5c:	89 c2                	mov    %eax,%edx
    1d5e:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1d61:	01 d0                	add    %edx,%eax
    1d63:	48 98                	cltq   
    1d65:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1d6c:	00 
    1d6d:	48 8b 45 10          	mov    0x10(%rbp),%rax
    1d71:	48 01 d0             	add    %rdx,%rax
    1d74:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1d78:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1d7b:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    1d7f:	89 c2                	mov    %eax,%edx
    1d81:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1d84:	01 d0                	add    %edx,%eax
    1d86:	48 98                	cltq   
    1d88:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1d8f:	00 
    1d90:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1d94:	48 01 d0             	add    %rdx,%rax
    1d97:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1d9b:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1d9f:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1da2:	48 98                	cltq   
    1da4:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1dab:	00 
    1dac:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1db0:	48 01 d0             	add    %rdx,%rax
    1db3:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1db7:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1dbb:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1dbf:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1dc2:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1dc5:	0f 8f 72 ff ff ff    	jg     1d3d <kalman+0x3ff>
    1dcb:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1dcf:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1dd2:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1dd5:	0f 8f 15 ff ff ff    	jg     1cf0 <kalman+0x3b2>
    1ddb:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1ddf:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1de2:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1de5:	0f 8f f9 fe ff ff    	jg     1ce4 <kalman+0x3a6>
    1deb:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1dee:	48 98                	cltq   
    1df0:	48 89 c2             	mov    %rax,%rdx
    1df3:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1df7:	48 89 d6             	mov    %rdx,%rsi
    1dfa:	89 c7                	mov    %eax,%edi
    1dfc:	e8 a8 f3 ff ff       	callq  11a9 <rinv>
    1e01:	89 45 e0             	mov    %eax,-0x20(%rbp)
    1e04:	83 7d e0 00          	cmpl   $0x0,-0x20(%rbp)
    1e08:	75 2c                	jne    1e36 <kalman+0x4f8>
    1e0a:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1e0e:	48 89 c7             	mov    %rax,%rdi
    1e11:	e8 6a f2 ff ff       	callq  1080 <free@plt>
    1e16:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1e1a:	48 89 c7             	mov    %rax,%rdi
    1e1d:	e8 5e f2 ff ff       	callq  1080 <free@plt>
    1e22:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    1e26:	48 89 c7             	mov    %rax,%rdi
    1e29:	e8 52 f2 ff ff       	callq  1080 <free@plt>
    1e2e:	8b 45 e0             	mov    -0x20(%rbp),%eax
    1e31:	e9 40 08 00 00       	jmpq   2676 <kalman+0xd38>
    1e36:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1e3d:	e9 e7 00 00 00       	jmpq   1f29 <kalman+0x5eb>
    1e42:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1e49:	e9 cb 00 00 00       	jmpq   1f19 <kalman+0x5db>
    1e4e:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1e51:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    1e55:	89 c2                	mov    %eax,%edx
    1e57:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1e5a:	01 d0                	add    %edx,%eax
    1e5c:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    1e5f:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1e62:	48 98                	cltq   
    1e64:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1e6b:	00 
    1e6c:	48 8b 45 30          	mov    0x30(%rbp),%rax
    1e70:	48 01 d0             	add    %rdx,%rax
    1e73:	66 0f ef c0          	pxor   %xmm0,%xmm0
    1e77:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1e7b:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    1e82:	e9 82 00 00 00       	jmpq   1f09 <kalman+0x5cb>
    1e87:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1e8a:	48 98                	cltq   
    1e8c:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1e93:	00 
    1e94:	48 8b 45 30          	mov    0x30(%rbp),%rax
    1e98:	48 01 d0             	add    %rdx,%rax
    1e9b:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1e9f:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1ea2:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    1ea6:	89 c2                	mov    %eax,%edx
    1ea8:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1eab:	01 d0                	add    %edx,%eax
    1ead:	48 98                	cltq   
    1eaf:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1eb6:	00 
    1eb7:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1ebb:	48 01 d0             	add    %rdx,%rax
    1ebe:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1ec2:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1ec5:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    1ec9:	89 c2                	mov    %eax,%edx
    1ecb:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1ece:	01 d0                	add    %edx,%eax
    1ed0:	48 98                	cltq   
    1ed2:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1ed9:	00 
    1eda:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1ede:	48 01 d0             	add    %rdx,%rax
    1ee1:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1ee5:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1ee9:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1eec:	48 98                	cltq   
    1eee:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1ef5:	00 
    1ef6:	48 8b 45 30          	mov    0x30(%rbp),%rax
    1efa:	48 01 d0             	add    %rdx,%rax
    1efd:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1f01:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1f05:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1f09:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1f0c:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1f0f:	0f 8f 72 ff ff ff    	jg     1e87 <kalman+0x549>
    1f15:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1f19:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1f1c:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1f1f:	0f 8f 29 ff ff ff    	jg     1e4e <kalman+0x510>
    1f25:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1f29:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1f2c:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1f2f:	0f 8f 0d ff ff ff    	jg     1e42 <kalman+0x504>
    1f35:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1f3c:	e9 d1 00 00 00       	jmpq   2012 <kalman+0x6d4>
    1f41:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1f44:	83 e8 01             	sub    $0x1,%eax
    1f47:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1f4b:	89 c2                	mov    %eax,%edx
    1f4d:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1f50:	01 d0                	add    %edx,%eax
    1f52:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    1f55:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1f58:	48 98                	cltq   
    1f5a:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1f61:	00 
    1f62:	48 8b 45 20          	mov    0x20(%rbp),%rax
    1f66:	48 01 d0             	add    %rdx,%rax
    1f69:	66 0f ef c0          	pxor   %xmm0,%xmm0
    1f6d:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1f71:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1f78:	e9 85 00 00 00       	jmpq   2002 <kalman+0x6c4>
    1f7d:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1f80:	48 98                	cltq   
    1f82:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1f89:	00 
    1f8a:	48 8b 45 20          	mov    0x20(%rbp),%rax
    1f8e:	48 01 d0             	add    %rdx,%rax
    1f91:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1f95:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1f98:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1f9c:	89 c2                	mov    %eax,%edx
    1f9e:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1fa1:	01 d0                	add    %edx,%eax
    1fa3:	48 98                	cltq   
    1fa5:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1fac:	00 
    1fad:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    1fb1:	48 01 d0             	add    %rdx,%rax
    1fb4:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1fb8:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1fbb:	83 e8 02             	sub    $0x2,%eax
    1fbe:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1fc2:	89 c2                	mov    %eax,%edx
    1fc4:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1fc7:	01 d0                	add    %edx,%eax
    1fc9:	48 98                	cltq   
    1fcb:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1fd2:	00 
    1fd3:	48 8b 45 20          	mov    0x20(%rbp),%rax
    1fd7:	48 01 d0             	add    %rdx,%rax
    1fda:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1fde:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1fe2:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1fe5:	48 98                	cltq   
    1fe7:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1fee:	00 
    1fef:	48 8b 45 20          	mov    0x20(%rbp),%rax
    1ff3:	48 01 d0             	add    %rdx,%rax
    1ff6:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1ffa:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1ffe:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    2002:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2005:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2008:	0f 8f 6f ff ff ff    	jg     1f7d <kalman+0x63f>
    200e:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    2012:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2015:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2018:	0f 8f 23 ff ff ff    	jg     1f41 <kalman+0x603>
    201e:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    2025:	e9 e9 00 00 00       	jmpq   2113 <kalman+0x7d5>
    202a:	8b 45 cc             	mov    -0x34(%rbp),%eax
    202d:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    2031:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    2034:	8b 45 d8             	mov    -0x28(%rbp),%eax
    2037:	83 e8 01             	sub    $0x1,%eax
    203a:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    203e:	89 c2                	mov    %eax,%edx
    2040:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2043:	01 d0                	add    %edx,%eax
    2045:	48 98                	cltq   
    2047:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    204e:	00 
    204f:	48 8b 45 18          	mov    0x18(%rbp),%rax
    2053:	48 01 c2             	add    %rax,%rdx
    2056:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2059:	48 98                	cltq   
    205b:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    2062:	00 
    2063:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    2067:	48 01 c8             	add    %rcx,%rax
    206a:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    206e:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    2072:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    2079:	e9 85 00 00 00       	jmpq   2103 <kalman+0x7c5>
    207e:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2081:	48 98                	cltq   
    2083:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    208a:	00 
    208b:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    208f:	48 01 d0             	add    %rdx,%rax
    2092:	f2 0f 10 00          	movsd  (%rax),%xmm0
    2096:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2099:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    209d:	89 c2                	mov    %eax,%edx
    209f:	8b 45 d0             	mov    -0x30(%rbp),%eax
    20a2:	01 d0                	add    %edx,%eax
    20a4:	48 98                	cltq   
    20a6:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    20ad:	00 
    20ae:	48 8b 45 10          	mov    0x10(%rbp),%rax
    20b2:	48 01 d0             	add    %rdx,%rax
    20b5:	f2 0f 10 10          	movsd  (%rax),%xmm2
    20b9:	8b 45 d8             	mov    -0x28(%rbp),%eax
    20bc:	83 e8 01             	sub    $0x1,%eax
    20bf:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    20c3:	89 c2                	mov    %eax,%edx
    20c5:	8b 45 d0             	mov    -0x30(%rbp),%eax
    20c8:	01 d0                	add    %edx,%eax
    20ca:	48 98                	cltq   
    20cc:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    20d3:	00 
    20d4:	48 8b 45 20          	mov    0x20(%rbp),%rax
    20d8:	48 01 d0             	add    %rdx,%rax
    20db:	f2 0f 10 08          	movsd  (%rax),%xmm1
    20df:	f2 0f 59 ca          	mulsd  %xmm2,%xmm1
    20e3:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    20e6:	48 98                	cltq   
    20e8:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    20ef:	00 
    20f0:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    20f4:	48 01 d0             	add    %rdx,%rax
    20f7:	f2 0f 5c c1          	subsd  %xmm1,%xmm0
    20fb:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    20ff:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    2103:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2106:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2109:	0f 8f 6f ff ff ff    	jg     207e <kalman+0x740>
    210f:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    2113:	8b 45 b8             	mov    -0x48(%rbp),%eax
    2116:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2119:	0f 8f 0b ff ff ff    	jg     202a <kalman+0x6ec>
    211f:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    2126:	e9 a8 00 00 00       	jmpq   21d3 <kalman+0x895>
    212b:	8b 45 d8             	mov    -0x28(%rbp),%eax
    212e:	83 e8 01             	sub    $0x1,%eax
    2131:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    2135:	89 c2                	mov    %eax,%edx
    2137:	8b 45 cc             	mov    -0x34(%rbp),%eax
    213a:	01 d0                	add    %edx,%eax
    213c:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    213f:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    2146:	eb 7b                	jmp    21c3 <kalman+0x885>
    2148:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    214b:	48 98                	cltq   
    214d:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2154:	00 
    2155:	48 8b 45 20          	mov    0x20(%rbp),%rax
    2159:	48 01 d0             	add    %rdx,%rax
    215c:	f2 0f 10 08          	movsd  (%rax),%xmm1
    2160:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2163:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    2167:	89 c2                	mov    %eax,%edx
    2169:	8b 45 d0             	mov    -0x30(%rbp),%eax
    216c:	01 d0                	add    %edx,%eax
    216e:	48 98                	cltq   
    2170:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2177:	00 
    2178:	48 8b 45 30          	mov    0x30(%rbp),%rax
    217c:	48 01 d0             	add    %rdx,%rax
    217f:	f2 0f 10 10          	movsd  (%rax),%xmm2
    2183:	8b 45 d0             	mov    -0x30(%rbp),%eax
    2186:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    218a:	48 98                	cltq   
    218c:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2193:	00 
    2194:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    2198:	48 01 d0             	add    %rdx,%rax
    219b:	f2 0f 10 00          	movsd  (%rax),%xmm0
    219f:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    21a3:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    21a6:	48 98                	cltq   
    21a8:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    21af:	00 
    21b0:	48 8b 45 20          	mov    0x20(%rbp),%rax
    21b4:	48 01 d0             	add    %rdx,%rax
    21b7:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    21bb:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    21bf:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    21c3:	8b 45 b8             	mov    -0x48(%rbp),%eax
    21c6:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    21c9:	0f 8f 79 ff ff ff    	jg     2148 <kalman+0x80a>
    21cf:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    21d3:	8b 45 bc             	mov    -0x44(%rbp),%eax
    21d6:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    21d9:	0f 8f 4c ff ff ff    	jg     212b <kalman+0x7ed>
    21df:	8b 45 d8             	mov    -0x28(%rbp),%eax
    21e2:	3b 45 b4             	cmp    -0x4c(%rbp),%eax
    21e5:	0f 8d 54 04 00 00    	jge    263f <kalman+0xd01>
    21eb:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    21f2:	e9 2b 01 00 00       	jmpq   2322 <kalman+0x9e4>
    21f7:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    21fe:	e9 0f 01 00 00       	jmpq   2312 <kalman+0x9d4>
    2203:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2206:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    220a:	89 c2                	mov    %eax,%edx
    220c:	8b 45 d0             	mov    -0x30(%rbp),%eax
    220f:	01 d0                	add    %edx,%eax
    2211:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    2214:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2217:	48 98                	cltq   
    2219:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2220:	00 
    2221:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    2225:	48 01 d0             	add    %rdx,%rax
    2228:	66 0f ef c0          	pxor   %xmm0,%xmm0
    222c:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    2230:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    2237:	e9 82 00 00 00       	jmpq   22be <kalman+0x980>
    223c:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    223f:	48 98                	cltq   
    2241:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2248:	00 
    2249:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    224d:	48 01 d0             	add    %rdx,%rax
    2250:	f2 0f 10 00          	movsd  (%rax),%xmm0
    2254:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2257:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    225b:	89 c2                	mov    %eax,%edx
    225d:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    2260:	01 d0                	add    %edx,%eax
    2262:	48 98                	cltq   
    2264:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    226b:	00 
    226c:	48 8b 45 30          	mov    0x30(%rbp),%rax
    2270:	48 01 d0             	add    %rdx,%rax
    2273:	f2 0f 10 10          	movsd  (%rax),%xmm2
    2277:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    227a:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    227e:	89 c2                	mov    %eax,%edx
    2280:	8b 45 d0             	mov    -0x30(%rbp),%eax
    2283:	01 d0                	add    %edx,%eax
    2285:	48 98                	cltq   
    2287:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    228e:	00 
    228f:	48 8b 45 10          	mov    0x10(%rbp),%rax
    2293:	48 01 d0             	add    %rdx,%rax
    2296:	f2 0f 10 08          	movsd  (%rax),%xmm1
    229a:	f2 0f 59 ca          	mulsd  %xmm2,%xmm1
    229e:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    22a1:	48 98                	cltq   
    22a3:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    22aa:	00 
    22ab:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    22af:	48 01 d0             	add    %rdx,%rax
    22b2:	f2 0f 5c c1          	subsd  %xmm1,%xmm0
    22b6:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    22ba:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    22be:	8b 45 b8             	mov    -0x48(%rbp),%eax
    22c1:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    22c4:	0f 8f 72 ff ff ff    	jg     223c <kalman+0x8fe>
    22ca:	8b 45 cc             	mov    -0x34(%rbp),%eax
    22cd:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    22d0:	75 3c                	jne    230e <kalman+0x9d0>
    22d2:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    22d5:	48 98                	cltq   
    22d7:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    22de:	00 
    22df:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    22e3:	48 01 d0             	add    %rdx,%rax
    22e6:	f2 0f 10 08          	movsd  (%rax),%xmm1
    22ea:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    22ed:	48 98                	cltq   
    22ef:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    22f6:	00 
    22f7:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    22fb:	48 01 d0             	add    %rdx,%rax
    22fe:	f2 0f 10 05 3a 0d 00 	movsd  0xd3a(%rip),%xmm0        # 3040 <_IO_stdin_used+0x40>
    2305:	00 
    2306:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    230a:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    230e:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    2312:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2315:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2318:	0f 8f e5 fe ff ff    	jg     2203 <kalman+0x8c5>
    231e:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    2322:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2325:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2328:	0f 8f c9 fe ff ff    	jg     21f7 <kalman+0x8b9>
    232e:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    2335:	e9 e7 00 00 00       	jmpq   2421 <kalman+0xae3>
    233a:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    2341:	e9 cb 00 00 00       	jmpq   2411 <kalman+0xad3>
    2346:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2349:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    234d:	89 c2                	mov    %eax,%edx
    234f:	8b 45 d0             	mov    -0x30(%rbp),%eax
    2352:	01 d0                	add    %edx,%eax
    2354:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    2357:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    235a:	48 98                	cltq   
    235c:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2363:	00 
    2364:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    2368:	48 01 d0             	add    %rdx,%rax
    236b:	66 0f ef c0          	pxor   %xmm0,%xmm0
    236f:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    2373:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    237a:	e9 82 00 00 00       	jmpq   2401 <kalman+0xac3>
    237f:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2382:	48 98                	cltq   
    2384:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    238b:	00 
    238c:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    2390:	48 01 d0             	add    %rdx,%rax
    2393:	f2 0f 10 08          	movsd  (%rax),%xmm1
    2397:	8b 45 cc             	mov    -0x34(%rbp),%eax
    239a:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    239e:	89 c2                	mov    %eax,%edx
    23a0:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    23a3:	01 d0                	add    %edx,%eax
    23a5:	48 98                	cltq   
    23a7:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    23ae:	00 
    23af:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    23b3:	48 01 d0             	add    %rdx,%rax
    23b6:	f2 0f 10 10          	movsd  (%rax),%xmm2
    23ba:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    23bd:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    23c1:	89 c2                	mov    %eax,%edx
    23c3:	8b 45 d0             	mov    -0x30(%rbp),%eax
    23c6:	01 d0                	add    %edx,%eax
    23c8:	48 98                	cltq   
    23ca:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    23d1:	00 
    23d2:	48 8b 45 28          	mov    0x28(%rbp),%rax
    23d6:	48 01 d0             	add    %rdx,%rax
    23d9:	f2 0f 10 00          	movsd  (%rax),%xmm0
    23dd:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    23e1:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    23e4:	48 98                	cltq   
    23e6:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    23ed:	00 
    23ee:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    23f2:	48 01 d0             	add    %rdx,%rax
    23f5:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    23f9:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    23fd:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    2401:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2404:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    2407:	0f 8f 72 ff ff ff    	jg     237f <kalman+0xa41>
    240d:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    2411:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2414:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2417:	0f 8f 29 ff ff ff    	jg     2346 <kalman+0xa08>
    241d:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    2421:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2424:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2427:	0f 8f 0d ff ff ff    	jg     233a <kalman+0x9fc>
    242d:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    2434:	e9 e7 00 00 00       	jmpq   2520 <kalman+0xbe2>
    2439:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    2440:	e9 cb 00 00 00       	jmpq   2510 <kalman+0xbd2>
    2445:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2448:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    244c:	89 c2                	mov    %eax,%edx
    244e:	8b 45 d0             	mov    -0x30(%rbp),%eax
    2451:	01 d0                	add    %edx,%eax
    2453:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    2456:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2459:	48 98                	cltq   
    245b:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2462:	00 
    2463:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    2467:	48 01 d0             	add    %rdx,%rax
    246a:	66 0f ef c0          	pxor   %xmm0,%xmm0
    246e:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    2472:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    2479:	e9 82 00 00 00       	jmpq   2500 <kalman+0xbc2>
    247e:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2481:	48 98                	cltq   
    2483:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    248a:	00 
    248b:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    248f:	48 01 d0             	add    %rdx,%rax
    2492:	f2 0f 10 08          	movsd  (%rax),%xmm1
    2496:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2499:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    249d:	89 c2                	mov    %eax,%edx
    249f:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    24a2:	01 d0                	add    %edx,%eax
    24a4:	48 98                	cltq   
    24a6:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    24ad:	00 
    24ae:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    24b2:	48 01 d0             	add    %rdx,%rax
    24b5:	f2 0f 10 10          	movsd  (%rax),%xmm2
    24b9:	8b 45 d0             	mov    -0x30(%rbp),%eax
    24bc:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    24c0:	89 c2                	mov    %eax,%edx
    24c2:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    24c5:	01 d0                	add    %edx,%eax
    24c7:	48 98                	cltq   
    24c9:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    24d0:	00 
    24d1:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    24d5:	48 01 d0             	add    %rdx,%rax
    24d8:	f2 0f 10 00          	movsd  (%rax),%xmm0
    24dc:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    24e0:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    24e3:	48 98                	cltq   
    24e5:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    24ec:	00 
    24ed:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    24f1:	48 01 d0             	add    %rdx,%rax
    24f4:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    24f8:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    24fc:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    2500:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2503:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    2506:	0f 8f 72 ff ff ff    	jg     247e <kalman+0xb40>
    250c:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    2510:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2513:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2516:	0f 8f 29 ff ff ff    	jg     2445 <kalman+0xb07>
    251c:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    2520:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2523:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2526:	0f 8f 0d ff ff ff    	jg     2439 <kalman+0xafb>
    252c:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    2533:	e9 fb 00 00 00       	jmpq   2633 <kalman+0xcf5>
    2538:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    253f:	e9 df 00 00 00       	jmpq   2623 <kalman+0xce5>
    2544:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2547:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    254b:	89 c2                	mov    %eax,%edx
    254d:	8b 45 d0             	mov    -0x30(%rbp),%eax
    2550:	01 d0                	add    %edx,%eax
    2552:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    2555:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2558:	48 98                	cltq   
    255a:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2561:	00 
    2562:	48 8b 45 a0          	mov    -0x60(%rbp),%rax
    2566:	48 01 c2             	add    %rax,%rdx
    2569:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    256c:	48 98                	cltq   
    256e:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    2575:	00 
    2576:	48 8b 45 28          	mov    0x28(%rbp),%rax
    257a:	48 01 c8             	add    %rcx,%rax
    257d:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    2581:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    2585:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    258c:	e9 82 00 00 00       	jmpq   2613 <kalman+0xcd5>
    2591:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2594:	48 98                	cltq   
    2596:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    259d:	00 
    259e:	48 8b 45 28          	mov    0x28(%rbp),%rax
    25a2:	48 01 d0             	add    %rdx,%rax
    25a5:	f2 0f 10 08          	movsd  (%rax),%xmm1
    25a9:	8b 45 cc             	mov    -0x34(%rbp),%eax
    25ac:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    25b0:	89 c2                	mov    %eax,%edx
    25b2:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    25b5:	01 d0                	add    %edx,%eax
    25b7:	48 98                	cltq   
    25b9:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    25c0:	00 
    25c1:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    25c5:	48 01 d0             	add    %rdx,%rax
    25c8:	f2 0f 10 10          	movsd  (%rax),%xmm2
    25cc:	8b 45 d0             	mov    -0x30(%rbp),%eax
    25cf:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    25d3:	89 c2                	mov    %eax,%edx
    25d5:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    25d8:	01 d0                	add    %edx,%eax
    25da:	48 98                	cltq   
    25dc:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    25e3:	00 
    25e4:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    25e8:	48 01 d0             	add    %rdx,%rax
    25eb:	f2 0f 10 00          	movsd  (%rax),%xmm0
    25ef:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    25f3:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    25f6:	48 98                	cltq   
    25f8:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    25ff:	00 
    2600:	48 8b 45 28          	mov    0x28(%rbp),%rax
    2604:	48 01 d0             	add    %rdx,%rax
    2607:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    260b:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    260f:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    2613:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2616:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    2619:	0f 8f 72 ff ff ff    	jg     2591 <kalman+0xc53>
    261f:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    2623:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2626:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2629:	0f 8f 15 ff ff ff    	jg     2544 <kalman+0xc06>
    262f:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    2633:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2636:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2639:	0f 8f f9 fe ff ff    	jg     2538 <kalman+0xbfa>
    263f:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    2643:	8b 45 d8             	mov    -0x28(%rbp),%eax
    2646:	3b 45 b4             	cmp    -0x4c(%rbp),%eax
    2649:	0f 8e 8a f5 ff ff    	jle    1bd9 <kalman+0x29b>
    264f:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    2653:	48 89 c7             	mov    %rax,%rdi
    2656:	e8 25 ea ff ff       	callq  1080 <free@plt>
    265b:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    265f:	48 89 c7             	mov    %rax,%rdi
    2662:	e8 19 ea ff ff       	callq  1080 <free@plt>
    2667:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    266b:	48 89 c7             	mov    %rax,%rdi
    266e:	e8 0d ea ff ff       	callq  1080 <free@plt>
    2673:	8b 45 e0             	mov    -0x20(%rbp),%eax
    2676:	c9                   	leaveq 
    2677:	c3                   	retq   

0000000000002678 <main>:
    2678:	f3 0f 1e fa          	endbr64 
    267c:	55                   	push   %rbp
    267d:	48 89 e5             	mov    %rsp,%rbp
    2680:	48 83 ec 10          	sub    $0x10,%rsp
    2684:	66 0f ef c0          	pxor   %xmm0,%xmm0
    2688:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    268d:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    2691:	66 48 0f 6e c0       	movq   %rax,%xmm0
    2696:	48 8d 3d 84 09 00 00 	lea    0x984(%rip),%rdi        # 3021 <_IO_stdin_used+0x21>
    269d:	b8 01 00 00 00       	mov    $0x1,%eax
    26a2:	e8 f9 e9 ff ff       	callq  10a0 <printf@plt>
    26a7:	90                   	nop
    26a8:	c9                   	leaveq 
    26a9:	c3                   	retq   
    26aa:	66 0f 1f 44 00 00    	nopw   0x0(%rax,%rax,1)

00000000000026b0 <__libc_csu_init>:
    26b0:	f3 0f 1e fa          	endbr64 
    26b4:	41 57                	push   %r15
    26b6:	4c 8d 3d e3 26 00 00 	lea    0x26e3(%rip),%r15        # 4da0 <__frame_dummy_init_array_entry>
    26bd:	41 56                	push   %r14
    26bf:	49 89 d6             	mov    %rdx,%r14
    26c2:	41 55                	push   %r13
    26c4:	49 89 f5             	mov    %rsi,%r13
    26c7:	41 54                	push   %r12
    26c9:	41 89 fc             	mov    %edi,%r12d
    26cc:	55                   	push   %rbp
    26cd:	48 8d 2d d4 26 00 00 	lea    0x26d4(%rip),%rbp        # 4da8 <__do_global_dtors_aux_fini_array_entry>
    26d4:	53                   	push   %rbx
    26d5:	4c 29 fd             	sub    %r15,%rbp
    26d8:	48 83 ec 08          	sub    $0x8,%rsp
    26dc:	e8 1f e9 ff ff       	callq  1000 <_init>
    26e1:	48 c1 fd 03          	sar    $0x3,%rbp
    26e5:	74 1f                	je     2706 <__libc_csu_init+0x56>
    26e7:	31 db                	xor    %ebx,%ebx
    26e9:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)
    26f0:	4c 89 f2             	mov    %r14,%rdx
    26f3:	4c 89 ee             	mov    %r13,%rsi
    26f6:	44 89 e7             	mov    %r12d,%edi
    26f9:	41 ff 14 df          	callq  *(%r15,%rbx,8)
    26fd:	48 83 c3 01          	add    $0x1,%rbx
    2701:	48 39 dd             	cmp    %rbx,%rbp
    2704:	75 ea                	jne    26f0 <__libc_csu_init+0x40>
    2706:	48 83 c4 08          	add    $0x8,%rsp
    270a:	5b                   	pop    %rbx
    270b:	5d                   	pop    %rbp
    270c:	41 5c                	pop    %r12
    270e:	41 5d                	pop    %r13
    2710:	41 5e                	pop    %r14
    2712:	41 5f                	pop    %r15
    2714:	c3                   	retq   
    2715:	66 66 2e 0f 1f 84 00 	data16 nopw %cs:0x0(%rax,%rax,1)
    271c:	00 00 00 00 

0000000000002720 <__libc_csu_fini>:
    2720:	f3 0f 1e fa          	endbr64 
    2724:	c3                   	retq   

Disassembly of section .fini:

0000000000002728 <_fini>:
    2728:	f3 0f 1e fa          	endbr64 
    272c:	48 83 ec 08          	sub    $0x8,%rsp
    2730:	48 83 c4 08          	add    $0x8,%rsp
    2734:	c3                   	retq   
